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artf4156: Replaced synchronization primitives with C++11 equivalents

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Change-Id: I90da739347e875efda2a29dd5484b6dda3cd4753
This commit is contained in:
Tyler Veness
2015-06-25 01:54:20 -07:00
committed by James Kuszmaul
parent 7f5ee01d3e
commit 3f59f3472a
61 changed files with 1293 additions and 768 deletions
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32
wpilibc/wpilibC++Devices/src/DriverStation.cpp
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@@ -7,7 +7,6 @@
#include "DriverStation.h"
#include "AnalogInput.h"
#include "HAL/cpp/Synchronized.hpp"
#include "Timer.h"
#include "NetworkCommunication/FRCComm.h"
#include "NetworkCommunication/UsageReporting.h"
@@ -45,19 +44,9 @@ DriverStation::DriverStation() {
m_joystickDescriptor[i].type = -1;
m_joystickDescriptor[i].name[0] = '\0';
}
// Create a new semaphore
m_packetDataAvailableMultiWait = initializeMultiWait();
m_newControlData = initializeSemaphore(SEMAPHORE_EMPTY);
m_waitForDataSem = initializeMultiWait();
m_waitForDataMutex = initializeMutexNormal();
m_packetDataAvailableMultiWait = initializeMultiWait();
m_packetDataAvailableMutex = initializeMutexNormal();
// Register that semaphore with the network communications task.
// It will signal when new packet data is available.
HALSetNewDataSem(m_packetDataAvailableMultiWait);
HALSetNewDataSem(m_packetDataAvailableCond.native_handle());
AddToSingletonList();
@@ -72,12 +61,8 @@ DriverStation::DriverStation() {
DriverStation::~DriverStation() {
m_task.Stop();
deleteMultiWait(m_waitForDataSem);
// Unregister our semaphore.
HALSetNewDataSem(nullptr);
deleteMultiWait(m_packetDataAvailableMultiWait);
deleteMutex(m_packetDataAvailableMutex);
deleteMutex(m_waitForDataMutex);
}
// XXX: This assumes that the calling convention treats pointers and uint32_ts
@@ -87,10 +72,12 @@ void DriverStation::InitTask(DriverStation* ds) { ds->Run(); }
void DriverStation::Run() {
int period = 0;
while (true) {
takeMultiWait(m_packetDataAvailableMultiWait, m_packetDataAvailableMutex,
0);
{
std::unique_lock<priority_mutex> lock(m_packetDataAvailableMutex);
m_packetDataAvailableCond.wait(lock);
}
GetData();
giveMultiWait(m_waitForDataSem);
m_waitForDataCond.notify_all();
if (++period >= 4) {
MotorSafetyHelper::CheckMotors();
@@ -126,7 +113,7 @@ void DriverStation::GetData() {
HALGetJoystickButtons(stick, &m_joystickButtons[stick]);
HALGetJoystickDescriptor(stick, &m_joystickDescriptor[stick]);
}
giveSemaphore(m_newControlData);
m_newControlData.give();
}
/**
@@ -454,7 +441,7 @@ bool DriverStation::IsSysBrownedOut() const {
* @return True if the control data has been updated since the last call.
*/
bool DriverStation::IsNewControlData() const {
return tryTakeSemaphore(m_newControlData) == 0;
return m_newControlData.tryTake() == false;
}
/**
@@ -520,7 +507,8 @@ uint32_t DriverStation::GetLocation() const {
* to act on
*/
void DriverStation::WaitForData() {
takeMultiWait(m_waitForDataSem, m_waitForDataMutex, SEMAPHORE_WAIT_FOREVER);
std::unique_lock<priority_mutex> lock(m_waitForDataMutex);
m_waitForDataCond.wait(lock);
}
/**